A SYSTEM IS DESCRIBED FOR OFF-LINE PROGRAMMING A ROBOT PERFORMING ASSEMBLY OPERATIONS WHERE INTERACTION AND COORDINATION BETWEEN PERIPHERAL DEVICES IS ESSENTIAL FOR CORRECT OPERATION. THE COMPLEX NATURE OF AUTOMATED ASSEMBLY OPERATIONS REQUIRES MULTIDEVICES TO ASSEMBLE AND FASTEN COMPONENTS TOGETHER. AS PART OF BRITISH AEROSPACE'S ON- GOING COMMITMENT TO AUTOMATED ASSEMBLY DEVELOPMENT, THIS PAPER DISCUSSES THE INTRODUCTION OF A ROBOTIC OFF-LINE PROGRAMMING METHOD WHICH USES A CAD DATABASE TO CONSTRUCT DEVICE PART PROGRAMS. A 3-D COMPUTER SIMULATION SYSTEM MODELS AND ANIMATES ALL THE PROGRAMMABLE MOTIONS IN THE PHYSICAL AUTOMATED ASSEMBLY CELL. ONCE TAPE PROVED AN OFF-LINE PROGRAM IS PRODUCED INCORPORATING CALIBRATION METHODS.